charly.server.devices
Class ChRobDeviceImpl

java.lang.Object
  java.rmi.server.RemoteObject
      java.rmi.server.RemoteServer
          java.rmi.server.UnicastRemoteObject
              charly.server.devices.ChRobDeviceImpl

All Implemented Interfaces:

ChDevice, ChRobDevice, java.rmi.Remote, java.io.Serializable

public class ChRobDeviceImpl

extends java.rmi.server.UnicastRemoteObject

implements ChDevice, ChRobDevice

See Also:

Serialized Form

Field Summary

(package private) ChRobby	rob
(package private) ChRsrcManagerImpl	rsrcMgr

Fields inherited from class java.rmi.server.UnicastRemoteObject

Fields inherited from class java.rmi.server.RemoteServer

Fields inherited from class java.rmi.server.RemoteObject

ref

Fields inherited from interface charly.server.devices.ChRobDevice

NAME

Constructor Summary

ChRobDeviceImpl()

Method Summary

protected void	createRob() sets the internal ChRobby.
int[]	getAxes(java.lang.String taskID)
int	getAxisPos(java.lang.String taskID, int axisNr)
java.lang.String	getName()
void	setAxes(java.lang.String taskID, int[] pos) Setzt Position aller sechs Achsen
void	setAxisPos(java.lang.String taskID, int axisNr, int pos) Setzt Position der Achse axisNr
void	setRsrcMgr(ChRsrcManagerImpl rsrcMgr) is called immediately after the constructor

Methods inherited from class java.rmi.server.UnicastRemoteObject

clone, exportObject, exportObject, exportObject, unexportObject

Methods inherited from class java.rmi.server.RemoteServer

getClientHost, getLog, setLog

Methods inherited from class java.rmi.server.RemoteObject

equals, getRef, hashCode, toString, toStub

Methods inherited from class java.lang.Object

finalize, getClass, notify, notifyAll, wait, wait, wait

Field Detail

rob

ChRobby rob

rsrcMgr

ChRsrcManagerImpl rsrcMgr

Constructor Detail

ChRobDeviceImpl

public ChRobDeviceImpl()
                throws java.rmi.RemoteException

Method Detail

createRob

protected void createRob()

sets the internal ChRobby.

setRsrcMgr

public void setRsrcMgr(ChRsrcManagerImpl rsrcMgr)

Description copied from interface: ChDevice

is called immediately after the constructor

Specified by:

setRsrcMgr in interface ChDevice

getName

public java.lang.String getName()

Specified by:

getName in interface ChDevice

Returns:

"ROB"

See Also:

ChRobDevice.NAME

setAxisPos

public void setAxisPos(java.lang.String taskID,
                       int axisNr,
                       int pos)
                throws ChRobDeviceException,
                       java.rmi.RemoteException,
                       ChTaskNotStartedException,
                       ChAccessDeniedException

Setzt Position der Achse axisNr

Specified by:

setAxisPos in interface ChRobDevice

Parameters:

axisNr - Achsennummer (0-5)

pos - Neue Position (0-255)

Throws:

ChRobDeviceException

java.rmi.RemoteException

ChTaskNotStartedException

ChAccessDeniedException

getAxisPos

public int getAxisPos(java.lang.String taskID,
                      int axisNr)
               throws ChRobDeviceException,
                      java.rmi.RemoteException

Specified by:

getAxisPos in interface ChRobDevice

Parameters:

axisNr - - Achsennummer (0-5)

Returns:

Achsenposition (0-255)

Throws:

ChRobDeviceException

java.rmi.RemoteException

setAxes

public void setAxes(java.lang.String taskID,
                    int[] pos)
             throws ChRobDeviceException,
                    java.rmi.RemoteException,
                    ChTaskNotStartedException,
                    ChAccessDeniedException

Setzt Position aller sechs Achsen

Specified by:

setAxes in interface ChRobDevice

Parameters:

pos - Neue Positionen: Array mit sechs Elementen mit Werten zwischen 0 und 255

Throws:

ChRobDeviceException

java.rmi.RemoteException

ChTaskNotStartedException

ChAccessDeniedException

getAxes

public int[] getAxes(java.lang.String taskID)
              throws ChRobDeviceException,
                     java.rmi.RemoteException

Specified by:

getAxes in interface ChRobDevice

Returns:

Positionen - Array mit sechs Elementen mit Werten zwischen 0 und 255 - oder null bei Misserfolg bspw. bei Timeout????!!!!

Throws:

ChRobDeviceException

java.rmi.RemoteException